Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept.
Edmundo Pozo FortunicMehmet Can YildirimDennis OssadnikAbdalla SwikirSaeed AbdolshahSami HaddadinPublished in: IEEE Robotics Autom. Lett. (2023)